Hi Kei,<br>Gazebo supports following modes:<br><ul><li>-g : headless, no gui, but still generates image sensors.</li><li>-r : headless, no gui, no image sensor generation.   This mode is needed to run gazebo when X server with glx support is not available.<br>



</li><li>-p : physics engine disabled, &quot;no-sim&quot; mode.<br></li></ul>I&#39;ve in the past experimented with splitting gazebo into a purely image sensor generator node and a non-rendering node, I have not been supporting that feature.  Is it something that will help your simulation scenario?<br>



John<br><br><br><div class="gmail_quote">On Wed, Sep 15, 2010 at 8:20 AM, Kei Okada <span dir="ltr">&lt;<a href="mailto:k-okada@jsk.t.u-tokyo.ac.jp" target="_blank">k-okada@jsk.t.u-tokyo.ac.jp</a>&gt;</span> wrote:<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">Hi<br>
<br>
Regarding to speeding up simulation, is it possible to run headless<br>
simulator with image sensor generation?<br>
I found tutorial page but this is empty.<br>
<a href="http://www.ros.org/wiki/pr2_simulator/Tutorials/SensorGenerationNode" target="_blank">http://www.ros.org/wiki/pr2_simulator/Tutorials/SensorGenerationNode</a><br>
<br>
I&#39;m also looking for &quot;no-sim&quot; mode that doesn&#39;t calculate physics<br>
dynamics, but simulate image and laser sensors.<br>
<br>
=<br>
<font color="#888888">Kei Okada<br>
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